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Bring in sync with deepmind/mujoco commit a499b381: #664

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Bring in sync with deepmind/mujoco commit a499b381: #664

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25 changes: 24 additions & 1 deletion mujoco_py/builder.py
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Original file line number Diff line number Diff line change
Expand Up @@ -310,6 +310,7 @@ def __init__(self, mujoco_path):
self.extension.libraries.extend(['glfw.3'])
self.extension.define_macros = [('ONMAC', None)]
self.extension.runtime_library_dirs = [join(mujoco_path, 'bin')]
self.extension.include_dirs.extend([join(self.mujoco_path, 'MuJoCo.framework/Headers')])

def _build_impl(self):
if not os.environ.get('CC'):
Expand All @@ -323,6 +324,7 @@ def _build_impl(self):
'/opt/local/bin/gcc-mp-8',
'/opt/local/bin/gcc-mp-7',
'/opt/local/bin/gcc-mp-6',
'/usr/bin/clang',
]
available_c_compiler = None
for c_compiler in c_compilers:
Expand All @@ -332,10 +334,31 @@ def _build_impl(self):
if available_c_compiler is None:
raise RuntimeError(
'Could not find supported GCC executable.\n\n'
'HINT: On OS X, install GCC 9.x with '
'HINT: On OS X, install Xcode and libomp (brew install libomp), or\n'
'GCC 9.x with: '
'`brew install gcc@9`. or '
'`port install gcc9`.')
os.environ['CC'] = available_c_compiler
if available_c_compiler == '/usr/bin/clang':
# Use standard Apple Xcode (with libomp for OpenMP): clang -Xpreprocessor -fopenmp -lomp
# Need to ensure libomp is in LIBRARY_PATH somewhere (e.g. /usr/local/lib or /opt/homebrew/lib)
self.extension.extra_compile_args=[
'-Xpreprocessor',
'-fopenmp',
'-w'
]
self.extension.extra_link_args=[
'-lomp',
'-framework',
'MuJoCo',
'-F',
self.mujoco_path,
'-rpath',
self.mujoco_path
]
self.extension.libraries=['omp', 'glfw.3']
self.extension.library_dirs.extend(['/usr/local/lib', '/opt/homebrew/lib'])
self.extension.include_dirs.extend(['/usr/local/include', '/opt/homebrew/include'])

so_file_path = super()._build_impl()
del os.environ['CC']
Expand Down